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bigprint
twins-controller
Commits
85560838
Commit
85560838
authored
Mar 16, 2020
by
Jayant Khatkar
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dry run working
parent
adfe9006
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README.md
README.md
+9
-4
main.py
main.py
+5
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README.md
View file @
85560838
...
...
@@ -4,7 +4,7 @@ Take a standard gcode file and print it using only 1 arm.
Includes the following important components:
-
connecting with single arm through ros
-
calibration:
to
do
-
calibration: do
ne
-
connecting with extruder through ros: todo
-
printing the whole thing: todo
...
...
@@ -45,10 +45,10 @@ launch ur5_e_moveit_config ur5_e_moveit_planning_execution.launch
roslaunch ur5_e_moveit_config moveit_rviz.launch config:
=
true
```
3.
Run the
controller fil
e.
3.
Run the
main cod
e.
```
bash
ipython
-i
controller
.py
ipython
-i
main
.py
```
#### How to Run in Simulation
...
...
@@ -57,6 +57,11 @@ ipython -i controller.py
```
bash
# Launch simulated ur5e with moveit and visualisation
# TODO: change topic names of simulated to be same as real
launch ur5_e_moveit_config ur5_e_moveit_planning_execution.launch
```
2.
Run the main code.
```
bash
ipython
-i
main.py
```
main.py
View file @
85560838
...
...
@@ -22,13 +22,8 @@ if __name__ == "__main__":
# Calibrate system
con
.
calibrate
(
CalibrationType
.
centre
)
# convert (a) contour to arm trajectory
traj
=
con
.
contour2traj
(
contours
[
0
])
# Execute trajectory
con
.
move_to
(
traj
.
points
[
0
].
positions
)
con
.
exec_traj
(
traj
)
# move to next trajectory
t2
=
con
.
contour2traj
(
contours
[
98
])
con
.
move_to_next_contour
(
t2
)
# Plan and execute (planning is slow because ik calculation rosservice used)
for
i
in
range
(
10
):
#only do first 10 contours
t
=
con
.
contour2traj
(
contours
[
i
])
con
.
move_to_next_contour
(
t
)
con
.
exec_traj
(
t
)
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